# On a three dimensional vision based collision avoidance model

## TL;DR

This paper introduces a 3D collision avoidance model for aerial vehicles inspired by biological group behaviors, enabling safe convergence to a destination while avoiding collisions with moving obstacles and respecting perception constraints.

## Contribution

The paper develops a novel 3D collision avoidance strategy based on biological principles, including a mean-field kinetic model and simulation validation.

## Key findings

- Effective collision avoidance in simulations
- Model respects limited field of view constraints
- Converges to common destination without collisions

## Abstract

This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination point avoiding collisions with each other and with moving obstacles in their environment. The interaction rules lead the agents to adapt their velocity vectors through a modification of the relative bearing angle and the relative elevation. Moreover the model satisfies the limited field of view constraints resulting from individual perception sensitivity. From the proposed individual based model, a mean-field kinetic model is derived. Simulations are performed to show the effectiveness of the proposed model.